Abstract

Impedance control should be generally applied for most robot when contacts some environment to achieve “softness of contact” between the end-effector of robot and the environment. This chapter proposes several algorithms such as impedance control implementation for hexapod robot COMET-IV. Also, in the case of heavyweight and large-scale-structured robot, inclinometers from attitude angles should be designed to control the long-term attitudes of the body, not to prevent shaking caused by changes in support of the legs. Moreover, this shaking is considered as a natural scenario since the robot is using hydraulic system and automotive engine. Therefore, only attitude errors that are over the acceptable limit will be included in the adaptive calculation.